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<div class="title">gait_scheduler.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://gitee.com/panda_23/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;gait_scheduler.h&quot;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classGaitScheduler.html#ae80429157cc4a030426a9776a3c087a5">   14</a></span>&#160;<a class="code" href="classGaitScheduler.html#ae80429157cc4a030426a9776a3c087a5">GaitScheduler::GaitScheduler</a>(<span class="keywordtype">double</span> tSwingIn, <span class="keywordtype">double</span> dtIn) {</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <a class="code" href="classGaitScheduler.html#ae7e444a24e0ed19c0a52b8832220538f">tSwing</a>=tSwingIn;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <a class="code" href="classGaitScheduler.html#afe24a16f3a4b9e4f5db04056b3cdc349">dt</a>=dtIn;</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <a class="code" href="classGaitScheduler.html#a1f1a221fb6fa50a17a941990cb8a428f">phi</a>=0;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <a class="code" href="classGaitScheduler.html#a3473035ec27c4cdee3d04b1bd156ac0e">isIni</a>=<span class="keyword">false</span>;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <a class="code" href="classGaitScheduler.html#af10903d6376bdc95bfe49c41ff951017">legState</a>=DataBus::RSt;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;}</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keywordtype">void</span> GaitScheduler::dataBusRead(<span class="keyword">const</span> <a class="code" href="structDataBus.html">DataBus</a> &amp;robotState) {</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    model_nv=robotState.<a class="code" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a>;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <a class="code" href="classGaitScheduler.html#a5c644ded833c2b83911d70265a51a12c">torJoint</a>=Eigen::VectorXd::Zero(model_nv-6);</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;model_nv-6;i++)</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    {</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        <a class="code" href="classGaitScheduler.html#a5c644ded833c2b83911d70265a51a12c">torJoint</a>[i]=robotState.<a class="code" href="structDataBus.html#a1996047c3f808dda9f4cc3944d0d486a">motors_tor_cur</a>[i];</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    }</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    dyn_M=robotState.<a class="code" href="structDataBus.html#a89e3ed169f2093e233629aebeb105fbc">dyn_M</a>;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    dyn_Non=robotState.<a class="code" href="structDataBus.html#a377a7cdd1719fbdd45391759c52937f4">dyn_Non</a>;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    J_l=robotState.<a class="code" href="structDataBus.html#a3d71c2856c6ecbfec729a09024d026f8">J_l</a>;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    dJ_l=robotState.<a class="code" href="structDataBus.html#af02ef8e966761be5381e8f8ce1f4f324">dJ_l</a>;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    J_r=robotState.<a class="code" href="structDataBus.html#a8901e359598639544806c2ccde5cc7b3">J_r</a>;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    dJ_r=robotState.<a class="code" href="structDataBus.html#aad4b760c5cb1103d2409810f887cace3">dJ_r</a>;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <a class="code" href="classGaitScheduler.html#a23b4fe5d102f13755d2b14950bc13e3b">Fz_L_m</a>= robotState.<a class="code" href="structDataBus.html#aadc53e4bcea2d069903b5de3274d5058">fL</a>[2];</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <a class="code" href="classGaitScheduler.html#ab43cec46486e1e5f3cd6e59a6c162ac7">Fz_R_m</a>= robotState.<a class="code" href="structDataBus.html#ab3279b454456687b2293f804b7e70390">fR</a>[2];</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    hip_l_pos_W=robotState.<a class="code" href="structDataBus.html#a2481f4929359c2f0fbdb6924f5f77958">hip_l_pos_W</a>;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    hip_r_pos_W=robotState.<a class="code" href="structDataBus.html#a28192a2cec986c703498af32d7b1de54">hip_r_pos_W</a>;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    fe_r_pos_W=robotState.<a class="code" href="structDataBus.html#a1bb8296c8580550caf059e975149658e">fe_r_pos_W</a>;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    fe_l_pos_W=robotState.<a class="code" href="structDataBus.html#a05ae4114523a0df9822667297ba5046d">fe_l_pos_W</a>;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    fe_l_rot_W=robotState.<a class="code" href="structDataBus.html#a97432e506d995437e3cb622002cac9d4">fe_l_rot_W</a>;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    fe_r_rot_W=robotState.<a class="code" href="structDataBus.html#ad8eeb01c84d65c903a3e6190925af3f2">fe_r_rot_W</a>;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    dq=robotState.<a class="code" href="structDataBus.html#a1e20ca2abda0e8342aa07eaf4b7adaa4">dq</a>;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;}</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keywordtype">void</span> GaitScheduler::dataBusWrite(<a class="code" href="structDataBus.html">DataBus</a> &amp;robotState) {</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    robotState.<a class="code" href="structDataBus.html#a0872af337cf744df13666d1ca70ddfab">tSwing</a>=<a class="code" href="classGaitScheduler.html#ae7e444a24e0ed19c0a52b8832220538f">tSwing</a>;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    robotState.<a class="code" href="structDataBus.html#a10764ddec95c7b01b4d00e75c19e4b48">swingStartPos_W</a>=swingStartPos_W;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    robotState.<a class="code" href="structDataBus.html#a872d4c01ddcc325893e0593a82a53653">stanceDesPos_W</a>=stanceStartPos_W;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    robotState.<a class="code" href="structDataBus.html#a2dd269f857bfd6dd3928e524b0b41b05">posHip_W</a>=posHip_W;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    robotState.<a class="code" href="structDataBus.html#ac2e4fb0dfd07ba322070e3bd6b204e33">theta0</a>=theta0;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    robotState.<a class="code" href="structDataBus.html#af3616a7ffbfec988f239485c4b550a2f">legState</a>=<a class="code" href="classGaitScheduler.html#af10903d6376bdc95bfe49c41ff951017">legState</a>;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    robotState.<a class="code" href="structDataBus.html#a4047b0d4ca169264a0388439313b63d9">legStateNext</a>=<a class="code" href="classGaitScheduler.html#a7593fedd09b2c3897b9a81db2bb0560a">legStateNext</a>;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    robotState.<a class="code" href="structDataBus.html#a356f98de11378aa6fbdf67c6076a6868">phi</a>=<a class="code" href="classGaitScheduler.html#a1f1a221fb6fa50a17a941990cb8a428f">phi</a>;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    robotState.<a class="code" href="structDataBus.html#ab45a37863d3650eb9fde838c427eea72">FL_est</a>=<a class="code" href="classGaitScheduler.html#a614ce3fed948dcc2746f21202437df62">FLest</a>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    robotState.<a class="code" href="structDataBus.html#a15ddd144e2234a2bb6e33b8c2da92b8e">FR_est</a>=<a class="code" href="classGaitScheduler.html#abbd1d35129e19e01297f883b69f6cbd3">FRest</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classGaitScheduler.html#af10903d6376bdc95bfe49c41ff951017">legState</a> == <a class="code" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">DataBus::LSt</a>){</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        robotState.<a class="code" href="structDataBus.html#a9a0d5709c566c7421d44f0e8beda62c2">stance_fe_pos_cur_W</a>=fe_l_pos_W;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        robotState.<a class="code" href="structDataBus.html#a0afb2e446d4c0caedd5c4e0f97695f34">stance_fe_rot_cur_W</a>=fe_l_rot_W;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    }</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">else</span>{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        robotState.<a class="code" href="structDataBus.html#a9a0d5709c566c7421d44f0e8beda62c2">stance_fe_pos_cur_W</a>=fe_r_pos_W;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        robotState.<a class="code" href="structDataBus.html#a0afb2e446d4c0caedd5c4e0f97695f34">stance_fe_rot_cur_W</a>=fe_r_rot_W;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    }</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;}</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classGaitScheduler.html#aa23623812735c74e6e97554489599790">   67</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classGaitScheduler.html#aa23623812735c74e6e97554489599790">GaitScheduler::step</a>() {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    Eigen::VectorXd tauAll;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    tauAll=Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    tauAll.block(6,0,model_nv-6,1)=<a class="code" href="classGaitScheduler.html#a5c644ded833c2b83911d70265a51a12c">torJoint</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <a class="code" href="classGaitScheduler.html#a614ce3fed948dcc2746f21202437df62">FLest</a>= -pseudoInv_SVD(J_l * dyn_M.inverse() * J_l.transpose()) * (J_l * dyn_M.inverse() * (tauAll - dyn_Non) + dJ_l * dq);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <a class="code" href="classGaitScheduler.html#abbd1d35129e19e01297f883b69f6cbd3">FRest</a>= -pseudoInv_SVD(J_r * dyn_M.inverse() * J_r.transpose()) * (J_r * dyn_M.inverse() * (tauAll - dyn_Non) + dJ_r * dq);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordtype">double</span> dPhi=1.0/<a class="code" href="classGaitScheduler.html#ae7e444a24e0ed19c0a52b8832220538f">tSwing</a>*<a class="code" href="classGaitScheduler.html#afe24a16f3a4b9e4f5db04056b3cdc349">dt</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <a class="code" href="classGaitScheduler.html#a1f1a221fb6fa50a17a941990cb8a428f">phi</a>+=dPhi;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="classGaitScheduler.html#a3473035ec27c4cdee3d04b1bd156ac0e">isIni</a>){</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <a class="code" href="classGaitScheduler.html#a3473035ec27c4cdee3d04b1bd156ac0e">isIni</a>=<span class="keyword">true</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classGaitScheduler.html#af10903d6376bdc95bfe49c41ff951017">legState</a> == <a class="code" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">DataBus::LSt</a>){</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            swingStartPos_W=fe_r_pos_W;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;            stanceStartPos_W=fe_l_pos_W;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keywordflow">else</span>{</div>
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<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;            stanceStartPos_W=fe_r_pos_W;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classGaitScheduler.html#a1f1a221fb6fa50a17a941990cb8a428f">phi</a>&gt;=1)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <a class="code" href="classGaitScheduler.html#a1f1a221fb6fa50a17a941990cb8a428f">phi</a>=1;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classGaitScheduler.html#af10903d6376bdc95bfe49c41ff951017">legState</a> == <a class="code" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">DataBus::LSt</a> &amp;&amp; <a class="code" href="classGaitScheduler.html#abbd1d35129e19e01297f883b69f6cbd3">FRest</a>[2] &gt;= <a class="code" href="classGaitScheduler.html#a91185099fb4d6ad3154c01426cd841dc">FzThrehold</a>){</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            <a class="code" href="classGaitScheduler.html#af10903d6376bdc95bfe49c41ff951017">legState</a> = DataBus::RSt;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            swingStartPos_W=fe_l_pos_W;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            stanceStartPos_W=fe_r_pos_W;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            <a class="code" href="classGaitScheduler.html#a1f1a221fb6fa50a17a941990cb8a428f">phi</a>=0;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="classGaitScheduler.html#af10903d6376bdc95bfe49c41ff951017">legState</a> == DataBus::RSt &amp;&amp; <a class="code" href="classGaitScheduler.html#a614ce3fed948dcc2746f21202437df62">FLest</a>[2] &gt;= <a class="code" href="classGaitScheduler.html#a91185099fb4d6ad3154c01426cd841dc">FzThrehold</a>){</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            <a class="code" href="classGaitScheduler.html#af10903d6376bdc95bfe49c41ff951017">legState</a> = <a class="code" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">DataBus::LSt</a>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            swingStartPos_W=fe_r_pos_W;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            stanceStartPos_W=fe_l_pos_W;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            <a class="code" href="classGaitScheduler.html#a1f1a221fb6fa50a17a941990cb8a428f">phi</a>=0;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classGaitScheduler.html#af10903d6376bdc95bfe49c41ff951017">legState</a> == <a class="code" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">DataBus::LSt</a>){</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        posHip_W=hip_r_pos_W;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        posST_W=fe_l_pos_W;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        theta0=-3.1415*0.5;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <a class="code" href="classGaitScheduler.html#a7593fedd09b2c3897b9a81db2bb0560a">legStateNext</a> = DataBus::RSt;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        posHip_W = hip_l_pos_W;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        posST_W=fe_r_pos_W;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        theta0=3.1415*0.5;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <a class="code" href="classGaitScheduler.html#a7593fedd09b2c3897b9a81db2bb0560a">legStateNext</a> = <a class="code" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">DataBus::LSt</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;}</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassFootPlacement_html"><div class="ttname"><a href="classFootPlacement.html">FootPlacement</a></div><div class="ttdoc">This class is used to generate swing leg trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="foot__placement_8h_source.html#l00018">foot_placement.h:18</a></div></div>
<div class="ttc" id="astructDataBus_html_a9a0d5709c566c7421d44f0e8beda62c2"><div class="ttname"><a href="structDataBus.html#a9a0d5709c566c7421d44f0e8beda62c2">DataBus::stance_fe_pos_cur_W</a></div><div class="ttdeci">Eigen::Vector3d stance_fe_pos_cur_W</div><div class="ttdoc">current stance foot end position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00137">data_bus.h:137</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_af10903d6376bdc95bfe49c41ff951017"><div class="ttname"><a href="classGaitScheduler.html#af10903d6376bdc95bfe49c41ff951017">GaitScheduler::legState</a></div><div class="ttdeci">DataBus::LegState legState</div><div class="ttdoc">leg state (swing or stance)</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8h_source.html#l00028">gait_scheduler.h:28</a></div></div>
<div class="ttc" id="astructDataBus_html_a1e20ca2abda0e8342aa07eaf4b7adaa4"><div class="ttname"><a href="structDataBus.html#a1e20ca2abda0e8342aa07eaf4b7adaa4">DataBus::dq</a></div><div class="ttdeci">Eigen::VectorXd dq</div><div class="ttdoc">velocity variable of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00051">data_bus.h:51</a></div></div>
<div class="ttc" id="astructDataBus_html_a05ae4114523a0df9822667297ba5046d"><div class="ttname"><a href="structDataBus.html#a05ae4114523a0df9822667297ba5046d">DataBus::fe_l_pos_W</a></div><div class="ttdeci">Eigen::Vector3d fe_l_pos_W</div><div class="ttdoc">left foot position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00065">data_bus.h:65</a></div></div>
<div class="ttc" id="astructDataBus_html_aadc53e4bcea2d069903b5de3274d5058"><div class="ttname"><a href="structDataBus.html#aadc53e4bcea2d069903b5de3274d5058">DataBus::fL</a></div><div class="ttdeci">double fL[3]</div><div class="ttdoc">reaction force from ground to the left foot of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00031">data_bus.h:31</a></div></div>
<div class="ttc" id="astructDataBus_html_a28192a2cec986c703498af32d7b1de54"><div class="ttname"><a href="structDataBus.html#a28192a2cec986c703498af32d7b1de54">DataBus::hip_r_pos_W</a></div><div class="ttdeci">Eigen::Vector3d hip_r_pos_W</div><div class="ttdoc">right hip position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00074">data_bus.h:74</a></div></div>
<div class="ttc" id="astructDataBus_html_a10764ddec95c7b01b4d00e75c19e4b48"><div class="ttname"><a href="structDataBus.html#a10764ddec95c7b01b4d00e75c19e4b48">DataBus::swingStartPos_W</a></div><div class="ttdeci">Eigen::Vector3d swingStartPos_W</div><div class="ttdoc">swing foot end start position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00150">data_bus.h:150</a></div></div>
<div class="ttc" id="astructDataBus_html_a0872af337cf744df13666d1ca70ddfab"><div class="ttname"><a href="structDataBus.html#a0872af337cf744df13666d1ca70ddfab">DataBus::tSwing</a></div><div class="ttdeci">double tSwing</div><div class="ttdoc">swing period</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00158">data_bus.h:158</a></div></div>
<div class="ttc" id="astructDataBus_html_a356f98de11378aa6fbdf67c6076a6868"><div class="ttname"><a href="structDataBus.html#a356f98de11378aa6fbdf67c6076a6868">DataBus::phi</a></div><div class="ttdeci">double phi</div><div class="ttdoc">phase varialbe for trajectory generation, must between 0 and 1, used in footPlacement,...</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00159">data_bus.h:159</a></div></div>
<div class="ttc" id="astructDataBus_html_a2dd269f857bfd6dd3928e524b0b41b05"><div class="ttname"><a href="structDataBus.html#a2dd269f857bfd6dd3928e524b0b41b05">DataBus::posHip_W</a></div><div class="ttdeci">Eigen::Vector3d posHip_W</div><div class="ttdoc">hip position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00153">data_bus.h:153</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_a614ce3fed948dcc2746f21202437df62"><div class="ttname"><a href="classGaitScheduler.html#a614ce3fed948dcc2746f21202437df62">GaitScheduler::FLest</a></div><div class="ttdeci">Eigen::VectorXd FLest</div><div class="ttdoc">estimate of left foot ground reaction force</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8h_source.html#l00049">gait_scheduler.h:49</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_a3473035ec27c4cdee3d04b1bd156ac0e"><div class="ttname"><a href="classGaitScheduler.html#a3473035ec27c4cdee3d04b1bd156ac0e">GaitScheduler::isIni</a></div><div class="ttdeci">bool isIni</div><div class="ttdoc">initialization indicator</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8h_source.html#l00021">gait_scheduler.h:21</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_a1f1a221fb6fa50a17a941990cb8a428f"><div class="ttname"><a href="classGaitScheduler.html#a1f1a221fb6fa50a17a941990cb8a428f">GaitScheduler::phi</a></div><div class="ttdeci">double phi</div><div class="ttdoc">phase varialbe for gait and swing trajectory generation, must between 0 and 1</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8h_source.html#l00022">gait_scheduler.h:22</a></div></div>
<div class="ttc" id="astructDataBus_html_a15ddd144e2234a2bb6e33b8c2da92b8e"><div class="ttname"><a href="structDataBus.html#a15ddd144e2234a2bb6e33b8c2da92b8e">DataBus::FR_est</a></div><div class="ttdeci">Eigen::VectorXd FR_est</div><div class="ttdoc">estimation of the ground reaction force of right leg</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00041">data_bus.h:41</a></div></div>
<div class="ttc" id="astructDataBus_html_a1996047c3f808dda9f4cc3944d0d486a"><div class="ttname"><a href="structDataBus.html#a1996047c3f808dda9f4cc3944d0d486a">DataBus::motors_tor_cur</a></div><div class="ttdeci">std::vector&lt; double &gt; motors_tor_cur</div><div class="ttdoc">all current motors torque</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00039">data_bus.h:39</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_aa23623812735c74e6e97554489599790"><div class="ttname"><a href="classGaitScheduler.html#aa23623812735c74e6e97554489599790">GaitScheduler::step</a></div><div class="ttdeci">void step()</div><div class="ttdoc">update the gait</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8cpp_source.html#l00067">gait_scheduler.cpp:67</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_a23b4fe5d102f13755d2b14950bc13e3b"><div class="ttname"><a href="classGaitScheduler.html#a23b4fe5d102f13755d2b14950bc13e3b">GaitScheduler::Fz_L_m</a></div><div class="ttdeci">double Fz_L_m</div><div class="ttdoc">measured ground reaction force along z-axis of left foot</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8h_source.html#l00026">gait_scheduler.h:26</a></div></div>
<div class="ttc" id="astructDataBus_html_a97432e506d995437e3cb622002cac9d4"><div class="ttname"><a href="structDataBus.html#a97432e506d995437e3cb622002cac9d4">DataBus::fe_l_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d fe_l_rot_W</div><div class="ttdoc">left foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00068">data_bus.h:68</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_ab43cec46486e1e5f3cd6e59a6c162ac7"><div class="ttname"><a href="classGaitScheduler.html#ab43cec46486e1e5f3cd6e59a6c162ac7">GaitScheduler::Fz_R_m</a></div><div class="ttdeci">double Fz_R_m</div><div class="ttdoc">measured ground reaction force along z-axis of right foot</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8h_source.html#l00027">gait_scheduler.h:27</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_a91185099fb4d6ad3154c01426cd841dc"><div class="ttname"><a href="classGaitScheduler.html#a91185099fb4d6ad3154c01426cd841dc">GaitScheduler::FzThrehold</a></div><div class="ttdeci">double FzThrehold</div><div class="ttdoc">the ground reaction force threhold along z-axis used to indicate the foot has fallen to the ground co...</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8h_source.html#l00025">gait_scheduler.h:25</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_a7593fedd09b2c3897b9a81db2bb0560a"><div class="ttname"><a href="classGaitScheduler.html#a7593fedd09b2c3897b9a81db2bb0560a">GaitScheduler::legStateNext</a></div><div class="ttdeci">DataBus::LegState legStateNext</div><div class="ttdoc">next leg state</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8h_source.html#l00029">gait_scheduler.h:29</a></div></div>
<div class="ttc" id="astructDataBus_html_ad8eeb01c84d65c903a3e6190925af3f2"><div class="ttname"><a href="structDataBus.html#ad8eeb01c84d65c903a3e6190925af3f2">DataBus::fe_r_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d fe_r_rot_W</div><div class="ttdoc">right foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00067">data_bus.h:67</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_ae7e444a24e0ed19c0a52b8832220538f"><div class="ttname"><a href="classGaitScheduler.html#ae7e444a24e0ed19c0a52b8832220538f">GaitScheduler::tSwing</a></div><div class="ttdeci">double tSwing</div><div class="ttdoc">swing period</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8h_source.html#l00023">gait_scheduler.h:23</a></div></div>
<div class="ttc" id="astructDataBus_html_aad4b760c5cb1103d2409810f887cace3"><div class="ttname"><a href="structDataBus.html#aad4b760c5cb1103d2409810f887cace3">DataBus::dJ_r</a></div><div class="ttdeci">Eigen::MatrixXd dJ_r</div><div class="ttdoc">jacobian time variation matrix of right leg</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00061">data_bus.h:61</a></div></div>
<div class="ttc" id="astructDataBus_html_ac2e4fb0dfd07ba322070e3bd6b204e33"><div class="ttname"><a href="structDataBus.html#ac2e4fb0dfd07ba322070e3bd6b204e33">DataBus::theta0</a></div><div class="ttdeci">double theta0</div><div class="ttdoc">offset yaw angle of the swing foot(+pi/2 for left and -pi/2 for right), w.r.t body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00156">data_bus.h:156</a></div></div>
<div class="ttc" id="astructDataBus_html_a2481f4929359c2f0fbdb6924f5f77958"><div class="ttname"><a href="structDataBus.html#a2481f4929359c2f0fbdb6924f5f77958">DataBus::hip_l_pos_W</a></div><div class="ttdeci">Eigen::Vector3d hip_l_pos_W</div><div class="ttdoc">left hip position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00075">data_bus.h:75</a></div></div>
<div class="ttc" id="astructDataBus_html_a872d4c01ddcc325893e0593a82a53653"><div class="ttname"><a href="structDataBus.html#a872d4c01ddcc325893e0593a82a53653">DataBus::stanceDesPos_W</a></div><div class="ttdeci">Eigen::Vector3d stanceDesPos_W</div><div class="ttdoc">stance foot position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00152">data_bus.h:152</a></div></div>
<div class="ttc" id="astructDataBus_html_a8901e359598639544806c2ccde5cc7b3"><div class="ttname"><a href="structDataBus.html#a8901e359598639544806c2ccde5cc7b3">DataBus::J_r</a></div><div class="ttdeci">Eigen::MatrixXd J_r</div><div class="ttdoc">jacobian matrix of right foot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00056">data_bus.h:56</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_abbd1d35129e19e01297f883b69f6cbd3"><div class="ttname"><a href="classGaitScheduler.html#abbd1d35129e19e01297f883b69f6cbd3">GaitScheduler::FRest</a></div><div class="ttdeci">Eigen::VectorXd FRest</div><div class="ttdoc">estimate of right foot ground reaction force</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8h_source.html#l00050">gait_scheduler.h:50</a></div></div>
<div class="ttc" id="astructDataBus_html_ab45a37863d3650eb9fde838c427eea72"><div class="ttname"><a href="structDataBus.html#ab45a37863d3650eb9fde838c427eea72">DataBus::FL_est</a></div><div class="ttdeci">Eigen::VectorXd FL_est</div><div class="ttdoc">estimation of the ground reaction force of left leg</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00040">data_bus.h:40</a></div></div>
<div class="ttc" id="astructDataBus_html_af02ef8e966761be5381e8f8ce1f4f324"><div class="ttname"><a href="structDataBus.html#af02ef8e966761be5381e8f8ce1f4f324">DataBus::dJ_l</a></div><div class="ttdeci">Eigen::MatrixXd dJ_l</div><div class="ttdoc">jacobian time variation matrix of left leg</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00060">data_bus.h:60</a></div></div>
<div class="ttc" id="astructDataBus_html_a89e3ed169f2093e233629aebeb105fbc"><div class="ttname"><a href="structDataBus.html#a89e3ed169f2093e233629aebeb105fbc">DataBus::dyn_M</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00094">data_bus.h:94</a></div></div>
<div class="ttc" id="astructDataBus_html_ab9671a85da9b64c8be6c8d7d822c3db9"><div class="ttname"><a href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">DataBus::model_nv</a></div><div class="ttdeci">const int model_nv</div><div class="ttdoc">number of the degree of freedom of the model, i.e. dq</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00023">data_bus.h:23</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_afe24a16f3a4b9e4f5db04056b3cdc349"><div class="ttname"><a href="classGaitScheduler.html#afe24a16f3a4b9e4f5db04056b3cdc349">GaitScheduler::dt</a></div><div class="ttdeci">double dt</div><div class="ttdoc">contorl frequency</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8h_source.html#l00024">gait_scheduler.h:24</a></div></div>
<div class="ttc" id="astructDataBus_html_a4047b0d4ca169264a0388439313b63d9"><div class="ttname"><a href="structDataBus.html#a4047b0d4ca169264a0388439313b63d9">DataBus::legStateNext</a></div><div class="ttdeci">LegState legStateNext</div><div class="ttdoc">next leg stance state</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00173">data_bus.h:173</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_ae80429157cc4a030426a9776a3c087a5"><div class="ttname"><a href="classGaitScheduler.html#ae80429157cc4a030426a9776a3c087a5">GaitScheduler::GaitScheduler</a></div><div class="ttdeci">GaitScheduler(double tSwingIn, double dtIn)</div><div class="ttdoc">Construct a new Gait Scheduler object.</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8cpp_source.html#l00014">gait_scheduler.cpp:14</a></div></div>
<div class="ttc" id="astructDataBus_html_a1bb8296c8580550caf059e975149658e"><div class="ttname"><a href="structDataBus.html#a1bb8296c8580550caf059e975149658e">DataBus::fe_r_pos_W</a></div><div class="ttdeci">Eigen::Vector3d fe_r_pos_W</div><div class="ttdoc">right foot position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00064">data_bus.h:64</a></div></div>
<div class="ttc" id="astructDataBus_html_a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec"><div class="ttname"><a href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">DataBus::LSt</a></div><div class="ttdeci">@ LSt</div><div class="ttdoc">left leg stance</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00166">data_bus.h:166</a></div></div>
<div class="ttc" id="astructDataBus_html_ab3279b454456687b2293f804b7e70390"><div class="ttname"><a href="structDataBus.html#ab3279b454456687b2293f804b7e70390">DataBus::fR</a></div><div class="ttdeci">double fR[3]</div><div class="ttdoc">reaction force from ground to the right foot of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00032">data_bus.h:32</a></div></div>
<div class="ttc" id="astructDataBus_html_a377a7cdd1719fbdd45391759c52937f4"><div class="ttname"><a href="structDataBus.html#a377a7cdd1719fbdd45391759c52937f4">DataBus::dyn_Non</a></div><div class="ttdeci">Eigen::VectorXd dyn_Non</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau, dyn_Non=dyn_C*dq+dyn_G</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00100">data_bus.h:100</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html_a5c644ded833c2b83911d70265a51a12c"><div class="ttname"><a href="classGaitScheduler.html#a5c644ded833c2b83911d70265a51a12c">GaitScheduler::torJoint</a></div><div class="ttdeci">Eigen::VectorXd torJoint</div><div class="ttdoc">last control torque on joint, used to estimate GRF</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8h_source.html#l00051">gait_scheduler.h:51</a></div></div>
<div class="ttc" id="astructDataBus_html_af3616a7ffbfec988f239485c4b550a2f"><div class="ttname"><a href="structDataBus.html#af3616a7ffbfec988f239485c4b550a2f">DataBus::legState</a></div><div class="ttdeci">LegState legState</div><div class="ttdoc">current leg stance state</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00172">data_bus.h:172</a></div></div>
<div class="ttc" id="astructDataBus_html_a3d71c2856c6ecbfec729a09024d026f8"><div class="ttname"><a href="structDataBus.html#a3d71c2856c6ecbfec729a09024d026f8">DataBus::J_l</a></div><div class="ttdeci">Eigen::MatrixXd J_l</div><div class="ttdoc">jacobian matrix of left foot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00055">data_bus.h:55</a></div></div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdoc">The software model for data transporting.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00022">data_bus.h:22</a></div></div>
<div class="ttc" id="astructDataBus_html_a0afb2e446d4c0caedd5c4e0f97695f34"><div class="ttname"><a href="structDataBus.html#a0afb2e446d4c0caedd5c4e0f97695f34">DataBus::stance_fe_rot_cur_W</a></div><div class="ttdeci">Eigen::Matrix3d stance_fe_rot_cur_W</div><div class="ttdoc">current stance foot end angle position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00138">data_bus.h:138</a></div></div>
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